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<a href="#pub-methods">Public Member Functions</a> &#124;
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a5beca478787dc5b7f6ae16e66dd42d08"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5beca478787dc5b7f6ae16e66dd42d08"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>DENSOrobot</b> (int use_RS232_flg=0)</td></tr>
<tr class="separator:a5beca478787dc5b7f6ae16e66dd42d08"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9898bc5a0aacfb16357bd10ba8f1e98b"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDENSOrobot.html#a9898bc5a0aacfb16357bd10ba8f1e98b">DENSOrobot</a> (const Mat InitPose, int use_RS232_flg=0)</td></tr>
<tr class="memdesc:a9898bc5a0aacfb16357bd10ba8f1e98b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Default initialization of InitPose is JPose.  <a href="#a9898bc5a0aacfb16357bd10ba8f1e98b">More...</a><br/></td></tr>
<tr class="separator:a9898bc5a0aacfb16357bd10ba8f1e98b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8fce3794ab1ed852a89c83ce696a3a91"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDENSOrobot.html#a8fce3794ab1ed852a89c83ce696a3a91">FKineSolve</a> (const Mat fi, Mat &amp;A)</td></tr>
<tr class="memdesc:a8fce3794ab1ed852a89c83ce696a3a91"><td class="mdescLeft">&#160;</td><td class="mdescRight">Forward kinematic calculation.  <a href="#a8fce3794ab1ed852a89c83ce696a3a91">More...</a><br/></td></tr>
<tr class="separator:a8fce3794ab1ed852a89c83ce696a3a91"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5164224696e69166a27d4fddae141e86"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDENSOrobot.html#a5164224696e69166a27d4fddae141e86">FKineSolve</a> (const Mat fi, Mat &amp;e, Mat &amp;B, Mat &amp;A)</td></tr>
<tr class="memdesc:a5164224696e69166a27d4fddae141e86"><td class="mdescLeft">&#160;</td><td class="mdescRight">Forward kinematic calculation.  <a href="#a5164224696e69166a27d4fddae141e86">More...</a><br/></td></tr>
<tr class="separator:a5164224696e69166a27d4fddae141e86"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acd6cd29757ffbb8ed538f64a444eecda"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDENSOrobot.html#acd6cd29757ffbb8ed538f64a444eecda">IKineSolve</a> (const Mat fnlpose, Mat &amp;SOL)</td></tr>
<tr class="memdesc:acd6cd29757ffbb8ed538f64a444eecda"><td class="mdescLeft">&#160;</td><td class="mdescRight">Inverse kinematic module.  <a href="#acd6cd29757ffbb8ed538f64a444eecda">More...</a><br/></td></tr>
<tr class="separator:acd6cd29757ffbb8ed538f64a444eecda"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6bef1fee42dbb8ca0fb4964cc717cae4"><td class="memItemLeft" align="right" valign="top">char&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDENSOrobot.html#a6bef1fee42dbb8ca0fb4964cc717cae4">checkSOL</a> (Mat &amp;joints)</td></tr>
<tr class="memdesc:a6bef1fee42dbb8ca0fb4964cc717cae4"><td class="mdescLeft">&#160;</td><td class="mdescRight">check a joint pose whether it is within workrange  <a href="#a6bef1fee42dbb8ca0fb4964cc717cae4">More...</a><br/></td></tr>
<tr class="separator:a6bef1fee42dbb8ca0fb4964cc717cae4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abe4c148d01e205345d20b0fd857360e1"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="abe4c148d01e205345d20b0fd857360e1"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><b>checkOut</b> (Mat &amp;joints)</td></tr>
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<tr class="memitem:adebd80caffd0e9394eb8f2da6c63d3a9"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="adebd80caffd0e9394eb8f2da6c63d3a9"></a>
Mat&#160;</td><td class="memItemRight" valign="bottom"><b>rotx</b> (double fi)</td></tr>
<tr class="separator:adebd80caffd0e9394eb8f2da6c63d3a9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8659e854b91761e34175257be7ac6a53"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a8659e854b91761e34175257be7ac6a53"></a>
Mat&#160;</td><td class="memItemRight" valign="bottom"><b>roty</b> (double fi)</td></tr>
<tr class="separator:a8659e854b91761e34175257be7ac6a53"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aeb80fc32624e66778f938aad96372a63"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aeb80fc32624e66778f938aad96372a63"></a>
Mat&#160;</td><td class="memItemRight" valign="bottom"><b>rotz</b> (double fi)</td></tr>
<tr class="separator:aeb80fc32624e66778f938aad96372a63"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a348a77f48e98fe738f6ec02c087f02be"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDENSOrobot.html#a348a77f48e98fe738f6ec02c087f02be">TrajPlanner</a> (const Mat OrgPose, const Mat DestPose, Mat &amp;BestTraj)</td></tr>
<tr class="memdesc:a348a77f48e98fe738f6ec02c087f02be"><td class="mdescLeft">&#160;</td><td class="mdescRight">path planning/selection to destination pose (DstPose) and perform the move  <a href="#a348a77f48e98fe738f6ec02c087f02be">More...</a><br/></td></tr>
<tr class="separator:a348a77f48e98fe738f6ec02c087f02be"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aeaa7ab13e9d6aac7a77c9f24ec0280aa"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDENSOrobot.html#aeaa7ab13e9d6aac7a77c9f24ec0280aa">JTrajPlanner</a> (const Mat DstPose)</td></tr>
<tr class="memdesc:aeaa7ab13e9d6aac7a77c9f24ec0280aa"><td class="mdescLeft">&#160;</td><td class="mdescRight">Joint Control - check workspace condition and send to RS232.  <a href="#aeaa7ab13e9d6aac7a77c9f24ec0280aa">More...</a><br/></td></tr>
<tr class="separator:aeaa7ab13e9d6aac7a77c9f24ec0280aa"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a944988dc9d3cb0ff685b8cc3a18b2dce"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDENSOrobot.html#a944988dc9d3cb0ff685b8cc3a18b2dce">getVelJacob</a> (Mat &amp;Jacob, Mat &amp;A_16)</td></tr>
<tr class="memdesc:a944988dc9d3cb0ff685b8cc3a18b2dce"><td class="mdescLeft">&#160;</td><td class="mdescRight">(03/06/13) return Velocity Jacobian in m and rad  <a href="#a944988dc9d3cb0ff685b8cc3a18b2dce">More...</a><br/></td></tr>
<tr class="separator:a944988dc9d3cb0ff685b8cc3a18b2dce"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aee855f953dbe3d2f93348a7645b2d7bf"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDENSOrobot.html#aee855f953dbe3d2f93348a7645b2d7bf">updateJPose</a> (const Mat JPose_inp)</td></tr>
<tr class="memdesc:aee855f953dbe3d2f93348a7645b2d7bf"><td class="mdescLeft">&#160;</td><td class="mdescRight">update joint state value directly from caller, deprecated by 14/10/14 and replaced by inputPose  <a href="#aee855f953dbe3d2f93348a7645b2d7bf">More...</a><br/></td></tr>
<tr class="separator:aee855f953dbe3d2f93348a7645b2d7bf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7045801d239f581641c6a9f36b380314"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7045801d239f581641c6a9f36b380314"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><b>inputPose</b> (const Mat Pose_inp, int mode=CTRL_MODE_JOINT)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>calcJointRate</b> ()</td></tr>
<tr class="separator:a6588c54149a92eac21dfc676a44e5fdf"><td class="memSeparator" colspan="2">&#160;</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>calcJPose1</b> (const Mat theta_d, const Mat JPose0, Mat &amp;JPose1)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>calcPose1</b> (const Mat theta_d, const Mat JPose0, Mat &amp;JPose1, int mode)</td></tr>
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<tr class="memitem:a051e0642439d12c488996230ee74f7a6"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a051e0642439d12c488996230ee74f7a6"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><b>VelCtrl</b> (const cv::Mat VelScrew)</td></tr>
<tr class="separator:a051e0642439d12c488996230ee74f7a6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1773a06769ec32d82bb3d37841e5adef"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDENSOrobot.html#a1773a06769ec32d82bb3d37841e5adef">VelCtrl</a> (const Mat VelScrew, int mode)</td></tr>
<tr class="memdesc:a1773a06769ec32d82bb3d37841e5adef"><td class="mdescLeft">&#160;</td><td class="mdescRight">...  <a href="#a1773a06769ec32d82bb3d37841e5adef">More...</a><br/></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>calcJPose1</b> (const Mat theta_d, const Mat JPose0, Mat JPose1)</td></tr>
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<tr class="memitem:af206a39c8426bab89749443a3986eb9c"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af206a39c8426bab89749443a3986eb9c"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><b>llv2intCoordSys</b> (cv::Mat &amp;Pose, int mode)</td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr class="memitem:a901e76b5157649dbbcc03bc38e09911c"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a901e76b5157649dbbcc03bc38e09911c"></a>
Mat&#160;</td><td class="memItemRight" valign="bottom"><b>Pose</b></td></tr>
<tr class="separator:a901e76b5157649dbbcc03bc38e09911c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac69adaf42f760d5be2ec48c5b9627831"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac69adaf42f760d5be2ec48c5b9627831"></a>
Mat&#160;</td><td class="memItemRight" valign="bottom"><b>JPose</b></td></tr>
<tr class="separator:ac69adaf42f760d5be2ec48c5b9627831"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acf3f55a31ab8ef6d23f5e53c694dbc02"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="acf3f55a31ab8ef6d23f5e53c694dbc02"></a>
Mat&#160;</td><td class="memItemRight" valign="bottom"><b>CPose</b></td></tr>
<tr class="separator:acf3f55a31ab8ef6d23f5e53c694dbc02"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa2c04551c445885213bb2a7083a20f11"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa2c04551c445885213bb2a7083a20f11"></a>
<a class="el" href="structDHtable.html">DHtable</a>&#160;</td><td class="memItemRight" valign="bottom"><b>DH</b></td></tr>
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<tr class="memitem:accd9dddec1b9b220566f4f51c6aed5ff"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="accd9dddec1b9b220566f4f51c6aed5ff"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><b>use_RS232</b></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-attribs"></a>
Static Public Attributes</h2></td></tr>
<tr class="memitem:aa5f20a9bea84018f61acd10bc45f02ca"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa5f20a9bea84018f61acd10bc45f02ca"></a>
static int&#160;</td><td class="memItemRight" valign="bottom"><b>CTRL_MODE_JOINT</b> = 0</td></tr>
<tr class="separator:aa5f20a9bea84018f61acd10bc45f02ca"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6e54d3f2d6b8af98ac158adcddabacd0"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6e54d3f2d6b8af98ac158adcddabacd0"></a>
static int&#160;</td><td class="memItemRight" valign="bottom"><b>CTRL_MODE_XYZ</b> = 1</td></tr>
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</table>
<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a class="anchor" id="a9898bc5a0aacfb16357bd10ba8f1e98b"></a>
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          <td class="memname">DENSOrobot::DENSOrobot </td>
          <td>(</td>
          <td class="paramtype">const Mat&#160;</td>
          <td class="paramname"><em>InitPose</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>use_RS232_flg</em> = <code>0</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Default initialization of InitPose is JPose. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">InitPose</td><td>... </td></tr>
    <tr><td class="paramname">use_RS232_flg</td><td>... </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<h2 class="groupheader">Member Function Documentation</h2>
<a class="anchor" id="a6bef1fee42dbb8ca0fb4964cc717cae4"></a>
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          <td class="memname">char DENSOrobot::checkSOL </td>
          <td>(</td>
          <td class="paramtype">Mat &amp;&#160;</td>
          <td class="paramname"><em>joints</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>check a joint pose whether it is within workrange </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">joints</td><td>joint pose input </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>char </dd></dl>

</div>
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<a class="anchor" id="a8fce3794ab1ed852a89c83ce696a3a91"></a>
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          <td class="memname">void DENSOrobot::FKineSolve </td>
          <td>(</td>
          <td class="paramtype">const Mat&#160;</td>
          <td class="paramname"><em>fi</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Mat &amp;&#160;</td>
          <td class="paramname"><em>A</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<p>Forward kinematic calculation. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">fi</td><td>6 joint angles in low level controller coord. sys. </td></tr>
    <tr><td class="paramname">A</td><td>A_i which are all in internal coord. sys. (ref. to the original diagram (hand writing)) </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>void </dd></dl>

</div>
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          <td class="memname">void DENSOrobot::FKineSolve </td>
          <td>(</td>
          <td class="paramtype">const Mat&#160;</td>
          <td class="paramname"><em>fi</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Mat &amp;&#160;</td>
          <td class="paramname"><em>e</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Mat &amp;&#160;</td>
          <td class="paramname"><em>B</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Mat &amp;&#160;</td>
          <td class="paramname"><em>A</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Forward kinematic calculation. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">fi</td><td>6 joint angles in low level controller coord. sys. </td></tr>
    <tr><td class="paramname">e</td><td>e1,...,e6 </td></tr>
    <tr><td class="paramname">B</td><td>B1,...,B6 e and B are additional returned arguments for further calculation </td></tr>
    <tr><td class="paramname">A</td><td>A_i transformation matrix from ee to base coord. sys. which are all in internal coord. sys. (ref. to the original diagram (hand writing)) </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>void </dd></dl>

</div>
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          <td class="memname">void DENSOrobot::getVelJacob </td>
          <td>(</td>
          <td class="paramtype">Mat &amp;&#160;</td>
          <td class="paramname"><em>Jacob</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Mat &amp;&#160;</td>
          <td class="paramname"><em>A_16</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<p>(03/06/13) return Velocity Jacobian in m and rad </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">Jacob</td><td>Vel Jacob matrix </td></tr>
    <tr><td class="paramname">A_16</td><td>transformation matrix from ee to base coord. sys. which are all in internal coord. sys. (ref. to the original diagram (hand writing)) </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>void </dd></dl>

</div>
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          <td class="memname">void DENSOrobot::IKineSolve </td>
          <td>(</td>
          <td class="paramtype">const Mat&#160;</td>
          <td class="paramname"><em>fnlpose</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Mat &amp;&#160;</td>
          <td class="paramname"><em>SOL</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<p>Inverse kinematic module. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">fnlpose</td><td>= <a href="in user coord.">x, y, z, r, p, y</a> OR fnlpose = E = <a href="in int. coord.">nx ox ax x; ny oy ay y; nz oz az z; 0 0 0 1</a> </td></tr>
    <tr><td class="paramname">SOL</td><td>returned 8 solutions of inverse kinematic problem </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>void </dd></dl>

</div>
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          <td class="memname">int DENSOrobot::JTrajPlanner </td>
          <td>(</td>
          <td class="paramtype">const Mat&#160;</td>
          <td class="paramname"><em>DstPose</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
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<p>Joint Control - check workspace condition and send to RS232. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">DstPose</td><td>= [j1 j2 j3 j4 j5 j6] (rad) </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>int </dd></dl>

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          <td class="memname">int DENSOrobot::TrajPlanner </td>
          <td>(</td>
          <td class="paramtype">const Mat&#160;</td>
          <td class="paramname"><em>OrgPose</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Mat&#160;</td>
          <td class="paramname"><em>DstPose</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Mat &amp;&#160;</td>
          <td class="paramname"><em>BestTraj</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>path planning/selection to destination pose (DstPose) and perform the move </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">OrgPose</td><td>= [j1 j2 j3 j4 j5 j6] (rad) -&gt; this avoids calculating twice Inv Kine </td></tr>
    <tr><td class="paramname">DstPose</td><td>[x y z r p y] (rad &amp; mm) </td></tr>
    <tr><td class="paramname">BestTraj</td><td>returned best path selection </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>int </dd></dl>

</div>
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          <td class="memname">void DENSOrobot::updateJPose </td>
          <td>(</td>
          <td class="paramtype">const Mat&#160;</td>
          <td class="paramname"><em>JPose_inp</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>update joint state value directly from caller, deprecated by 14/10/14 and replaced by inputPose </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">JPose_inp</td><td>input Pose </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>void </dd></dl>

</div>
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          <td class="memname">int DENSOrobot::VelCtrl </td>
          <td>(</td>
          <td class="paramtype">const Mat&#160;</td>
          <td class="paramname"><em>VelScrew</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>mode</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
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<p>... </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">VelScrew</td><td>control screw </td></tr>
    <tr><td class="paramname">mode</td><td>control mode e.g. xyz or joint Defaults to CTRL_MODE_JOINT. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>int </dd></dl>

</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li><a class="el" href="DENSOrobot_8hpp_source.html">DENSOrobot.hpp</a></li>
<li>DENSOrobot.cpp</li>
<li>DENSOrobot_v1.2.cpp</li>
</ul>
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